Path Planning Of Mobile Robot In Complex Dynamic Environment

With the continuous improvement of automation and artificial intelligence,mobile robot technology has developed rapidly.Path planning plays a crucial role in whether the robot can avoid collision and reach the designated place in the process of moving.However,as the environment map becomes more and more complex,the path planning in the static environment can no longer meet the needs of today’s society.It is the top priority of the research to avoid obstacles and complete the path planning smoothly in the complex and changeable dynamic environment.In this paper,the path planning in complex dynamic environment is studied in depth.The details are as follows:Through the elaboration of environment modeling and various kinds of path planning algorithms in mobile robot technology and analysis of their advantages and disadvantages,the idea of improving A-Star algorithm and Dynamic window Approach(DWA)to realize path planning in complex dynamic environment is determined.A global path planning algorithm based on improved A-Star is proposed to solve the problems of slow search speed and redundant nodes in complex environment maps.Firstly,A distance close to the actual planning is designed as an heuristic function to reduce the A-Star algorithm’s search for useless nodes.Secondly,the offset cost is added to the evaluation function to enhance the directivity of the A-Star algorithm search,so that it gives priority to the direction of the target point.Then the global optimal path is obtained by quadratic programming of the planned path.Finally,the superiority of the improved A-Star algorithm is verified by the simulation experiment.A local path planning algorithm based on VFDWA is proposed to solve the problems of local optimization and dynamic obstacle avoidance in traditional DWA algorithm.Firstly,the detection window is used to analyze and locate the surrounding obstacles.Secondly,the fuzzy system dynamically adjusts the weights of the DWA algorithm and optimizes the path selection mode to solve the problem that the algorithm is prone to fall into the local optimal.Then,the feasible prediction speed of DWA algorithm is screened by using the obstacle avoidance idea of speed obstacle method,and obstacle avoidance strategies are designed for obstacles with different speeds to improve the dynamic obstacle avoidance ability of DWA algorithm.Finally,the superiority of VFDWA algorithm is verified by simulation experiments in static and dynamic environment.A hybrid path planning algorithm based on A-Star is proposed to solve the problem that a single algorithm cannot satisfy the path planning of robots in complex dynamic environment.Firstly,the improved A-Star algorithm is used for global path planning and optimal path points are extracted.Secondly,the optimal path point is taken as the target point of VFDWA algorithm and local path planning is carried out.Finally,the simulation experiment in complex dynamic environment verifies that the hybrid path planning algorithm can not only make the mobile robot avoid the "C" type obstacle trap and dynamic obstacles,but also achieve the global optimization of the planned path,achieving the expected goal.The superiority of this algorithm is proved.